Rigid and Deformable Collision Handling for a Haptic Neurosurgery Simulator.
Simulation has been widely used for training and rehearsing difficult or unusual actions in several fields such as aviation and the military. However, the simulators available in some disciplines do not fulfil the requirements of reliability and accuracy that users demand. This happens in neurosu...
| Main Authors: | , |
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| Language: | eng |
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2013
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10171/27733 |
| _version_ | 1793400564192641024 |
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| author | Echegaray-López, G. (Goretti) Borro-Yagüez, D. (Diego) |
| author_facet | Echegaray-López, G. (Goretti) Borro-Yagüez, D. (Diego) |
| author_sort | Echegaray-López, G. (Goretti) |
| collection | DSpace |
| description | Simulation has been widely used for training and rehearsing difficult or unusual
actions in several fields such as aviation and the military. However, the simulators
available in some disciplines do not fulfil the requirements of reliability and
accuracy that users demand. This happens in neurosurgery. In order to overcome
these difficulties, this thesis presents a multimodal Neurosurgery Simulator
focused on patient-specific surgical learning and training.
One of the aspects that most influences the behavioural reality of a simulator
is the way in which the scene objects interfere. For that reason, detecting collisions
and giving them a feasible response is particularly important. This work presents
the collision handling methods for rigid and deformable volumetric objects and
their haptic response to be integrated into the Neurosurgery Simulator. With the
aim of evaluating our methods in terms of continuity and stability, the present
document analyses the time consumption of the collision handling algorithms and
the stability of the force parameters they return.
Real-time virtual reality simulators require accuracy but are also time
dependent. Thus, their computational cost is a vital aspect. This thesis also
proposes a methodology to optimize the time consumption of collision detection
algorithms that are based on the uniform spatial partition technique. It is validated
experimentally and compared to other approaches. Additionally, the optimization
is applied to our deformable collision detection method in order to improve its
performance. |
| id | oai:dadun.unav.edu:10171-27733 |
| institution | Universidad de Navarra |
| language | eng |
| publishDate | 2013 |
| record_format | dspace |
| spelling | oai:dadun.unav.edu:10171-277332020-03-03T20:31:32Z Rigid and Deformable Collision Handling for a Haptic Neurosurgery Simulator. Echegaray-López, G. (Goretti) Borro-Yagüez, D. (Diego) Collision Detection. Collision Response. Haptics. Surgical Simulation. Force Reflection. Simulation has been widely used for training and rehearsing difficult or unusual actions in several fields such as aviation and the military. However, the simulators available in some disciplines do not fulfil the requirements of reliability and accuracy that users demand. This happens in neurosurgery. In order to overcome these difficulties, this thesis presents a multimodal Neurosurgery Simulator focused on patient-specific surgical learning and training. One of the aspects that most influences the behavioural reality of a simulator is the way in which the scene objects interfere. For that reason, detecting collisions and giving them a feasible response is particularly important. This work presents the collision handling methods for rigid and deformable volumetric objects and their haptic response to be integrated into the Neurosurgery Simulator. With the aim of evaluating our methods in terms of continuity and stability, the present document analyses the time consumption of the collision handling algorithms and the stability of the force parameters they return. Real-time virtual reality simulators require accuracy but are also time dependent. Thus, their computational cost is a vital aspect. This thesis also proposes a methodology to optimize the time consumption of collision detection algorithms that are based on the uniform spatial partition technique. It is validated experimentally and compared to other approaches. Additionally, the optimization is applied to our deformable collision detection method in order to improve its performance. 2013-01-31T12:31:30Z 2013-01-31T12:31:30Z 2013-01-31 2012-12 https://hdl.handle.net/10171/27733 eng application/pdf |
| spellingShingle | Collision Detection. Collision Response. Haptics. Surgical Simulation. Force Reflection. Echegaray-López, G. (Goretti) Borro-Yagüez, D. (Diego) Rigid and Deformable Collision Handling for a Haptic Neurosurgery Simulator. |
| title | Rigid and Deformable Collision Handling for a Haptic Neurosurgery Simulator. |
| title_full | Rigid and Deformable Collision Handling for a Haptic Neurosurgery Simulator. |
| title_fullStr | Rigid and Deformable Collision Handling for a Haptic Neurosurgery Simulator. |
| title_full_unstemmed | Rigid and Deformable Collision Handling for a Haptic Neurosurgery Simulator. |
| title_short | Rigid and Deformable Collision Handling for a Haptic Neurosurgery Simulator. |
| title_sort | rigid and deformable collision handling for a haptic neurosurgery simulator. |
| topic | Collision Detection. Collision Response. Haptics. Surgical Simulation. Force Reflection. |
| url | https://hdl.handle.net/10171/27733 |
| work_keys_str_mv | AT echegaraylopezggoretti rigidanddeformablecollisionhandlingforahapticneurosurgerysimulator AT borroyaguezddiego rigidanddeformablecollisionhandlingforahapticneurosurgerysimulator |